Improved Gust Tolerance of a Cyclocopter UAV Using Onboard Flow Sensing

This paper describes the gust rejection study of a twin-cyclocopter micro air vehicle with two cyclorotors and an anti-torque nose rotor. A gust rejection controller relying on velocity feedback and onboard flow sensing was implemented in a closed-loop feedback system. Tethered experiments were conducted with the vehicle mounted on a 6-DOF stand in front of a synthetic gust generation device capable of providing up to 4 m/s step gust input. Planar gusts along the longitudinal and lateral axis of the cyclocopter and crosswinds were systematically studied. Both pitch control (varying nose rotor rpm) and thrust vectoring control strategies were evaluated to counteract perturbation along the longitudinal axis, while the cyclocopter used differential rotational speed of the cyclorotors for lateral gusts. Results showed that thrust vectoring was more effective than pitch control in reducing displacement from gust. Pitch control using the position feedback controller resulted in a maximum gust tolerance of 2.8 m/s with a duration of 3 s. while thrust vector control using the combined flow feedback and position feedback controller was able to withstand 4 m/s step gust input with 1 s duration with only 0.01 m displacement. In addition, flow feedback was more effective than position feedback in minimizing position error. The cyclocopter was also able to mitigate step gusts of 2.8 m/s in magnitude and 3 s duration with crosswind components at 30 deg from the longitudinal axis. The difference in performance can be attributed to the cyclocopter's unique thrust vectoring capability.